Bárbara Barros Carlos

Bárbara Barros Carlos

PhD student in robotics

Biography

Bárbara Barros Carlos is a PhD student in robotics at Sapienza University of Rome. Her research interests include aerial robotics and real-time nonlinear model predictive control.

Interests

  • Aerial Robotics
  • Real-Time Nonlinear Model Predictive Control
  • Motion Planing and Control

Education

  • PhD in Robotics, Present

    Sapienza University of Rome, Italy

  • BSc in Mechatronics Engineering, 2017

    Federal Institute of Ceará, Brazil

Skills

Programming Languages

C/C++, Python, MATLAB

Building Systems

Catkin, CMake, Make

Development Tools

PyCharm, Vim, Terminal (Linux/MacOS)

Numerical Optimization Tools

CasADi, ACADO, acados

NMPC Solvers

HPIPM, qpOASES, IPOPT

Operating Systems

Linux, MacOS, ROS

Hardware

AVR Family (Atmega32), PIC18 Family, ARM Cortex-A8 Microprocessor

Misc

Git, LaTeX, GenoM3

Experience

 
 
 
 
 

Researcher

ITIC

Jan 2015 – Jun 2017 Fortaleza, Brazil

Responsibilities include:

  • Quadrotor hardware technician.
  • Development of an autopilot using BeagleBone Black.
  • Technical project writer.
 
 
 
 
 

Undergraduate Research Assistant

LIT/IFCE

Aug 2014 – Aug 2017 Fortaleza, Brazil
Development of a quadrotor prototype.
 
 
 
 
 

Robotics Teacher

ITIC

Dec 2013 – Dec 2014 Fortaleza, Brazil

Responsibilities include:

  • PIC 18FXX5X-based embedded systems development.
  • Taught logic, programming language, electricity and basic electronics.

Education

Visiting PhD student

I was working with embedded NMPC applied to quadrotors and human-quadrotor mixed-initiative control via NMPC. I have also developed an NMPC for a quadrotor-slung payload system for the task of transportation on suspension.

Supervisor: Antonio Franchi

Visiting PhD student

I was working with embedded numerical optimization methods applied to the motion generation of a pendubot and a quadrotor. For the former, I developed a solution for periodic motion generation for orbital stabilization. As for the latter, I developed a solution for real-time motion generation in dynamic environments and a sensitivity-based NMPC.

Supervisor: Moritz Diehl

PhD in Automatica, Bioingegneria e Ricerca Operativa

My PhD research focuses on real-time nonlinear model predictive control for motion generation in robotic systems.

Supervisor: Giuseppe Oriolo

BSc in Mechatronics Engineering

I was following a five years program where the focus was industrial automation and robotics.

Supervisor: Auzuir Ripardo de Alexandria
BSc thesis title: "Modeling, Control and Simulation of a Quadrotor for Attitude Stabilization".

Contact